Mechanical grabbing and clamping device for achieving automatic taking and placing of shoes and production method

Abstract

The invention relates to the field of shoemaking equipment, and discloses a mechanical grabbing and clamping device for achieving automatic taking and placing of shoes and a production method, the mechanical grabbing and clamping device comprises a supporting main body, a horizontal moving mechanism, an opening and closing driving mechanism and a grabbing and clamping manipulator; the horizontal moving mechanism comprises a lead screw rotationally arranged on one side of the supporting body and a lead screw driving assembly for driving the lead screw to rotate, the two opening and closing driving mechanisms are arranged on the lead screw in a spaced mode, and the lead screw driving assembly drives the two opening and closing driving mechanisms to horizontally and synchronously move in the same direction; the two sides of each opening and closing driving mechanism extend outwards to form a horizontal movable end, each grabbing and clamping mechanical arm is rotationally connected with one horizontal movable end, and the rotary connecting end of each grabbing and clamping mechanical arm is provided with a rotary driving mechanism in a matched mode. The shoe sole pressing machine has the advantages that automatic feeding of shoes without sole pressing and automatic taking down of shoes with sole pressing can be synchronously achieved, and therefore the production efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of shoe manufacturing equipment technology, specifically to a mechanical gripping device and production method for automatically picking up and placing shoes. Background Technology

[0002] In the shoe manufacturing process, after the upper and sole are glued together, the glued shoes need to be squeezed to make the sole and upper fit tightly and shape, thereby ensuring the bonding effect between the sole and upper. This is where the sole pressing machine comes in.

[0003] A sole pressing machine typically includes a frame, left and right edge pressing mechanisms, front and rear tightening mechanisms, and a pressure bar mechanism. The left and right edge pressing mechanisms and the front and rear tightening mechanisms form a cavity for accommodating the shoe, while the pressure bar mechanism presses the shoe last. For example, Chinese invention patent application CN202511287558.7 discloses a sole pressing machine and a shoe sole pressing method for shoe manufacturing. To complement the aforementioned sole pressing machine, there is an urgent need for a mechanical gripping device capable of simultaneously and automatically feeding unpressed shoes and automatically removing pressed shoes. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a mechanical gripping device and production method for automatically picking up and placing shoes. It can simultaneously and automatically feed shoes without soles and automatically remove shoes with soles, thereby improving production efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] In a first aspect, a mechanical gripping device for automatically picking up and placing shoes includes a support body, at least one horizontal moving mechanism, at least two opening and closing drive mechanisms, and at least four gripping manipulators.

[0007] The horizontal movement mechanism includes a lead screw rotatably mounted on one side of the support body along its length and a lead screw drive assembly that drives the lead screw to rotate. Two opening and closing drive mechanisms are spaced apart on the lead screw. The lead screw drive assembly drives the two opening and closing drive mechanisms to move horizontally synchronously in the same direction. Each opening and closing drive mechanism has a horizontal movable end extending outward on both sides. Each gripper is rotatably connected to a horizontal movable end. Each gripper is equipped with a rotation drive mechanism at its rotation connection end. The opening and closing drive mechanism drives the two grippers connected on both sides to move closer to each other or further apart. The rotation drive mechanism drives the grippers to rotate up and down.

[0008] Furthermore, each of the opening and closing drive mechanisms includes a supporting outer frame, a first gear rotatably disposed in the middle of the supporting outer frame, a second gear rotatably disposed in the upper part of the supporting outer frame and meshing with the first gear, a third gear rotatably disposed in the lower part of the supporting outer frame and meshing with the first gear, a gear drive assembly for driving the first gear to rotate, a first movable track and a second movable track; the supporting outer frame is screwed to a lead screw; the top of the first movable track is slidably connected to the inner top of the supporting outer frame, the bottom of the first movable track is provided with a first rack meshing with the second gear, and one end of the first movable track extends to the outside of one side of the supporting outer frame to form a horizontal movable end; the bottom of the second movable track is slidably connected to the inner bottom of the supporting outer frame, the top of the second movable track is provided with a second rack meshing with the third gear, and one end of the second movable track extends to the outside of the other side of the supporting outer frame to form another horizontal movable end.

[0009] Furthermore, each of the aforementioned gripping manipulators has a movable gripping assembly at its free end;

[0010] The movable gripper assembly includes a gripper body, a connecting seat, a tension spring, and a positioning sensor. The connecting seat is located at the free end of the gripper robot. The top of the gripper body and the connecting seat are slidably connected via a first guide rail and a first slider. One end of the gripper body has a gripping slot for gripping the end of a shoe, and the gripping slots of the two movable gripper assemblies on the same opening and closing drive mechanism are arranged facing each other. The tension spring is located between the connecting seat and the gripper body, and the positioning sensor is located on the gripper body and at the end near the gripping slot.

[0011] Furthermore, the gripper body has a first limiting stop on both sides near the gripping slot to block the connecting seat, and a second limiting stop on both sides away from the gripping slot to block the connecting seat; the position sensor is located on the first limiting stop.

[0012] Furthermore, each of the horizontal movable ends is provided with a connector; the connector includes an L-shaped connecting plate for connecting with the gripping robot and a connecting block connecting the L-shaped connecting plate and the horizontal movable end.

[0013] Furthermore, the support body includes a support base, a support main board, and connecting beams; the top of the support base is provided with several support main boards spaced apart along the length direction, and the support main boards are connected together by several connecting beams.

[0014] Furthermore, each of the aforementioned supporting motherboards is a triangular plate.

[0015] Furthermore, each of the supporting main boards has lead screw assembly grooves formed on both sides of its middle portion. The two ends of the lead screw are connected to the lead screw assembly grooves on two of the supporting main boards through lead screw mounting seats, and the lead screw assembly grooves on the remaining supporting main boards serve as clearance grooves.

[0016] Furthermore, each of the supporting motherboards has guide rail assembly portions formed on both the upper and lower sides; the horizontal moving mechanism also includes a second guide rail disposed on the guide rail assembly portion, and the opening and closing drive mechanism and the gripping manipulator are slidably connected to the second guide rail through the second slider.

[0017] Secondly, a method for producing a mechanical gripping device for automatically picking up and placing shoes, as described above, includes the following steps:

[0018] When the lead screw drive assembly drives the two opening and closing drive mechanisms to move horizontally and synchronously to the first position along the first direction, it controls the two rotary drive mechanisms on one of the opening and closing drive mechanisms to drive the two gripping manipulators to rotate downward to the desired position, controls the opening and closing drive mechanism to drive the two gripping manipulators to move closer together and clamp the shoe to be pressed down, and controls the two rotary drive mechanisms on the opening and closing drive mechanism to drive the two gripping manipulators to move the clamped shoe back to its original position; at the same time, it controls the two rotary drive mechanisms on the other opening and closing drive mechanism to drive the two gripping manipulators to rotate downward to the desired position, controls the opening and closing drive mechanism to drive the two gripping manipulators to move closer together and clamp the pressed shoe, and controls the two rotary drive mechanisms on the opening and closing drive mechanism to drive the two gripping manipulators to move the clamped shoe back to its original position.

[0019] The two opening and closing drive mechanisms are driven by a lead screw drive assembly to move horizontally and synchronously to the second position in a direction opposite to the first direction. The two rotary drive mechanisms on one of the opening and closing drive mechanisms drive the two gripping manipulators to rotate the shoe to be pressed downward to the desired position. The opening and closing drive mechanism is then controlled to move the two gripping manipulators away from each other to release the shoe to be pressed, and the two rotary drive mechanisms on the opening and closing drive mechanism are controlled to move the two gripping manipulators back to their original positions. At the same time, the two rotary drive mechanisms on the other opening and closing drive mechanism are controlled to move the two gripping manipulators to rotate the pressed shoe downward to the desired position. The opening and closing drive mechanism is then controlled to move the two gripping manipulators away from each other to release the pressed shoe, and the two rotary drive mechanisms on the opening and closing drive mechanism are controlled to move the two gripping manipulators back to their original positions.

[0020] By adopting the above-described technical solution of the present invention, at least the following beneficial effects are achieved:

[0021] 1. The mechanical gripping device is designed to include two opening and closing drive mechanisms spaced apart on a lead screw. The lead screw is connected to a lead screw drive assembly, and each opening and closing drive mechanism has horizontal movable ends on both sides. Each horizontal movable end is rotatably connected to a gripping robot, and each gripping robot is equipped with a rotation drive mechanism. This allows the two opening and closing drive mechanisms to be driven horizontally and synchronously to the desired position using the lead screw drive assembly, and the two gripping robots to be driven to move closer together to clamp or move further apart to release. Furthermore, the rotation drive mechanism can be used to drive the gripping robots to rotate up and down to the desired position. Therefore, through the above structural design of this invention, automatic feeding of unpressed shoes and automatic removal of pressed shoes can be achieved simultaneously, thereby improving production efficiency.

[0022] 2. By sliding a first movable track on the inner top of the supporting outer frame and a second movable track on the inner bottom of the supporting outer frame, the bottom of the first movable track is connected to the first gear via a first rack and a second gear, and the top of the second movable track is connected to the first gear via a second rack and a third gear. This structural design allows the first gear to be rotated using a gear drive assembly during operation, which in turn drives the first and second movable tracks to move synchronously in opposite directions. This enables the first and second movable tracks to drive the two gripping robotic arms to open and close stably, ensuring that the two gripping robotic arms can reliably grip the shoes. Furthermore, the overall structure of the opening and closing drive mechanism is simple, reducing implementation costs, and the compact layout of each component results in a small overall size and minimal space occupation.

[0023] 3. By setting a movable gripping component at the free end of the gripping robot, the shoe can be reliably clamped, thus ensuring that the shoe will not fall off during the movement of the two gripping robots. Attached Figure Description

[0024] Figure 1 This is a front perspective view of a mechanical gripping device for automatically picking up and placing shoes according to the present invention.

[0025] Figure 2 This is a three-dimensional view of the back of a mechanical gripping device for automatically picking up and placing shoes according to the present invention.

[0026] Figure 3 This is an overall structural diagram of the opening and closing drive mechanism connecting the two gripping manipulators in this invention;

[0027] Figure 4 This is a three-dimensional structural diagram of the opening and closing drive mechanism in this invention;

[0028] Figure 5 This is a side view of the opening and closing drive mechanism in this invention;

[0029] Figure 6 This is a connection structure diagram of a single gripper robot and a movable gripper assembly in this invention;

[0030] Figure 7 This is a structural diagram of the movable gripper assembly in this invention;

[0031] Figure 8 This is a structural diagram of the gripper body in this invention;

[0032] Figure 9 This is a structural diagram of the supporting body in this invention;

[0033] Figure 10 This is a structural diagram of a single supporting motherboard in this invention.

[0034] Figure label:

[0035] Mechanical gripper device 100;

[0036] Support body 1, support base 11, support main board 12, lead screw mounting groove 121, guide rail assembly part 122, connecting beam 13;

[0037] Horizontal moving mechanism 2, lead screw 21, lead screw drive assembly 22, lead screw mounting base 23, second guide rail 24, second slider 25;

[0038] The opening and closing drive mechanism 3, the horizontal movable end 31, the supporting outer frame 32, the first gear 33, the second gear 34, the third gear 35, the gear drive assembly 36, the drive motor 361, the first pulley 362, the second pulley 363, the transmission belt 364, the first movable track 37, the first rack 371, the second movable track 38, the second rack 381, and the third slider 39 are all included.

[0039] 4. Gripping robotic arm;

[0040] Rotary drive mechanism 5;

[0041] The movable gripper assembly 6 includes a gripper body 61, a gripping slot 611, a connecting base 62, a tension spring 63, a position sensor 64, a first guide rail 65, a first slider 66, a first limit stop 67, and a second limit stop 68.

[0042] Connector 7, L-shaped connecting plate 71, connecting block 72. Detailed Implementation

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Please see the appendix Figures 1 to 10 As shown, the present invention provides a mechanical gripping device 100 for automatically picking up and placing shoes. The mechanical gripping device 100 includes a support body 1, at least one horizontal moving mechanism 2, at least two opening and closing driving mechanisms 3, and at least four gripping manipulators 4. The support body 1 is used to meet the support requirements, the horizontal moving mechanism 2 is used to drive the opening and closing driving mechanism 3 to move horizontally, the opening and closing driving mechanism 3 is used to drive the gripping manipulators 4 to perform opening and closing movements, and the gripping manipulators 4 are used to grip shoes.

[0045] The horizontal moving mechanism 2 includes a lead screw 21 rotatably mounted on one side of the support body 1 along its length and a lead screw drive assembly 22 that drives the lead screw 21 to rotate. Two opening and closing drive mechanisms 3 are spaced apart on the lead screw 21 to prevent mutual interference during operation. The lead screw drive assembly 22 drives the two opening and closing drive mechanisms 3 to move horizontally synchronously in the same direction. Under the action of the lead screw drive assembly 22, the two opening and closing drive mechanisms 3 can move synchronously in the same direction, keeping the distance between them constant. Each opening and closing drive mechanism 3 extends outwards on both sides. A horizontal movable end 31 is formed, and each gripping robot 4 is rotatably connected to a horizontal movable end 31. Each gripping robot 4 is equipped with a rotation drive mechanism 5 at its rotatable connection end. The opening and closing drive mechanism 3 drives the two gripping robots 4 connected to both sides to move closer or further apart, thereby clamping or releasing the shoes. The rotation drive mechanism 5 drives the gripping robots 4 to rotate up and down, so that when picking up or putting down shoes, the rotation drive mechanism 5 can be used to drive the gripping robots 4 to rotate downward to the desired position, and when moving shoes, the rotation drive mechanism 5 can be used to drive the gripping robots 4 to rotate upward to the desired position. In specific implementations of this invention, the horizontal moving mechanism 2, the opening and closing drive mechanism 3, the gripping robot 4, and the rotation drive mechanism 5 can be set on only one side of the support body 1, or the horizontal moving mechanism 2, the opening and closing drive mechanism 3, the gripping robot 4, and the rotation drive mechanism 5 can be set on both sides of the support body 1 according to production needs.

[0046] This invention designs a mechanical gripping device 100 comprising two opening and closing drive mechanisms 3 spaced apart on a lead screw 21. The lead screw 21 is connected to a lead screw drive assembly 22, and each opening and closing drive mechanism 3 has horizontal movable ends 31 on both sides. Each horizontal movable end 31 is rotatably connected to a gripping robot 4, and each gripping robot 4 is equipped with a rotation drive mechanism 5. This allows the two opening and closing drive mechanisms 3 to be driven horizontally and synchronously to the desired position using the lead screw drive assembly 22, and the two gripping robot 4 to be driven to move closer together to clamp or move further apart to release. Furthermore, the rotation drive mechanism 5 can be used to drive the gripping robot 4 to rotate up and down to the desired position. Therefore, through the above structural design of this invention, it is possible to simultaneously and automatically feed unpressed shoes and automatically remove pressed shoes, thereby improving production efficiency.

[0047] Please refer to the following in some embodiments of the present invention. Figures 3 to 5 As shown, each of the opening and closing drive mechanisms 3 includes a supporting outer frame 32, a first gear 33 rotatably disposed in the middle of the supporting outer frame 32, a second gear 34 rotatably disposed in the upper part of the supporting outer frame 32 and meshing with the first gear 33, a third gear 35 rotatably disposed in the lower part of the supporting outer frame 32 and meshing with the first gear 33, a gear drive assembly 36 that drives the first gear 33 to rotate, a first movable track 37 and a second movable track 38; the supporting outer frame 32 is screwed to the lead screw 21, so that when the lead screw 21 rotates, it can drive the supporting outer frame 32 to move horizontally, thereby driving the entire opening and closing drive mechanism 3 and the two gripping manipulators 4 to move horizontally together;

[0048] The top of the first movable track 37 is slidably connected to the inner top of the supporting outer frame 32, allowing the first movable track 37 to slide relative to the supporting outer frame 32; the bottom of the first movable track 37 is provided with a first rack 371 that meshes with the second gear 34, and one end of the first movable track 37 extends to the outside of one side of the supporting outer frame 32 to form a horizontal movable end 31; the bottom of the second movable track 38 is slidably connected to the inner bottom of the supporting outer frame 32, allowing the second movable track 38 to slide relative to the supporting outer frame 32; the top of the second movable track 38 is provided with a second rack 381 that meshes with the third gear 35, and one end of the second movable track 38 extends to the outside of the other side of the supporting outer frame 32 to form another horizontal movable end 31. In a specific implementation of the present invention, at least two third sliders 39 are provided on the inner top and inner bottom of the supporting outer frame 32. The first movable track 37 is slidably assembled with each of the third sliders 39 on the top, and the second movable track 38 is slidably assembled with each of the third sliders 39 on the bottom. The first rack 371 is integrally formed on the bottom of the first movable track 37, and the second rack 381 is integrally formed on the top of the second movable track 38.

[0049] This invention utilizes a first movable track 37 slidably disposed on the inner top of the supporting outer frame 32, and a second movable track 38 slidably disposed on the inner bottom of the supporting outer frame 32. The bottom of the first movable track 37 is connected to the first gear 33 via a first rack 371 and a second gear 34, and the top of the second movable track 38 is connected to the first gear 33 via a second rack 381 and a third gear 35. This structural design allows the first gear 33 to be rotated using the gear drive assembly 36 during operation, thereby driving the first movable track 37 and the second movable track 38 to move synchronously and stably in opposite directions. This enables the first and second movable tracks 37 and 38 to drive the two gripping manipulators 4 to open and close stably, ensuring that the two gripping manipulators 4 can reliably and stably grip shoes. Furthermore, the overall structure of the opening and closing drive mechanism 3 is simple, reducing implementation costs, and the components are compactly arranged, resulting in a small overall size and minimal space occupation.

[0050] In one specific embodiment of the present invention, the gear drive assembly 36 includes a drive motor 361 disposed on the top of the support frame 32, a first pulley 362 connected to the output end of the drive motor 361, a second pulley 363 connected to the first gear 33, and a transmission belt 364 connected between the first pulley 362 and the second pulley 363. The first pulley 362, the second pulley 363 and the transmission belt 364 are all located on the front side of the support frame 32. Since the back side of the support frame 32 needs to be screwed to the lead screw 21, the above design can ensure that the gear drive assembly 36 and the lead screw 21 will not interfere with each other.

[0051] Please refer to the following in some embodiments of the present invention. Figures 6 to 8 As shown, in order to ensure that the gripping robot 4 can reliably clamp the shoe, each of the gripping robot 4 is provided with a movable gripping assembly 6 at its free end;

[0052] The movable gripper assembly 6 includes a gripper body 61, a connecting seat 62, a tension spring 63, and a positioning sensor 64. The connecting seat 62 is located at the free end of the gripper robot 4. The top of the gripper body 61 is slidably connected to the connecting seat 62 via a first guide rail 65 and a first slider 66, allowing the gripper body 61 to slide relative to the connecting seat 62 during the gripping of the shoe. One end of the gripper body 61 has a gripping slot 611 for gripping the end of the shoe. The gripping slots 611 of the two movable gripper assemblies 6 on the same opening and closing drive mechanism 3 are arranged facing each other, so that the two gripping slots 611 can be used to clamp the shoe from both ends. The tension spring 63 is located between the connecting seat 62 and the gripper body 61. The positioning sensor 64 is located on the gripper body 61 and is located at the end near the gripping slot 611.

[0053] In specific operation, when the opening and closing drive mechanism 3 drives the gripping robot 4 to move the gripping body 61 closer to the shoe, the gripping slot 611 of the gripping body 61 will slowly engage with the end of the shoe. As the gripping body 61 moves closer to the shoe, the shoe will exert a reverse force on the gripping body 61, causing the gripping body 61 to slide backward. When the gripping body 61 slides backward to its limit position, the positioning sensor 64 will detect a signal, indicating that the movable gripping assembly 6 of the two gripping robots 4 has clamped the shoe. The opening and closing drive mechanism 3 can then be controlled to stop driving the gripping robot 4 to move the gripping body 61 closer to the shoe. When the opening and closing drive mechanism 3 drives the gripping robot 4 to move the gripping body 61 to release the shoe, the gripping body 61 will automatically reset under the tension of the tension spring 63. Therefore, by adopting the structural design of the movable gripping component 6 of the present invention, the shoe can be reliably clamped, thereby ensuring that the shoe will not fall off during the movement of the two gripping robotic arms 4 gripping the shoe.

[0054] Furthermore, the gripper body 61 has first limiting stops 67 on both sides near the gripping slot 611 to block the connecting seat 62, and second limiting stops 68 on both sides away from the gripping slot 611 to block the connecting seat 62; the position sensor 64 is located on the first limiting stop 67. By setting the first limiting stop 67 and the second limiting stop 68 on the gripper body 61, the present invention can limit the range of motion of the gripper body 61. In specific operation, when the gripper body 61 slides backward to the point that the first limiting stop 67 contacts the connecting seat 62, the position sensor 64 will sense a signal, thereby controlling the opening and closing drive mechanism 3 to stop driving the gripper manipulator 4 to move the gripper body 61 closer to the shoe.

[0055] In some embodiments of the present invention, each of the horizontal movable ends 31 is provided with a connector 7; the connector 7 includes an L-shaped connecting plate 71 for connecting with the gripping robot 4 and a connecting block 72 connecting the L-shaped connecting plate 71 and the horizontal movable end 31. Since the first movable track 37 and the second movable track 38 of the opening and closing drive mechanism 3 need to move in the horizontal direction during operation, the above structural design can maintain a certain distance between the first movable track 37 and the second movable track 38 and the gripping robot 4, so as to ensure that the gripping robot 4 will not affect the horizontal movement of the first movable track 37 and the second movable track 38.

[0056] Please refer to the following in some embodiments of the present invention. Figure 9 and Figure 10 As shown, in order to reduce the overall weight while ensuring support strength, thereby reducing manufacturing costs, the support body 1 includes a support base 11, a support main plate 12, and connecting beams 13. Several support main plates 12 are spaced along the length of the top of the support base 11, and the support main plates 12 are connected together by several connecting beams 13. In a specific implementation of this invention, the support base 11, support main plates 12, and connecting beams 13 can all be made of steel, and the connection points can be welded together.

[0057] Furthermore, each of the aforementioned supporting motherboards 12 is a triangular plate to achieve triangular stable support.

[0058] Furthermore, each of the supporting main boards 12 has lead screw mounting grooves 121 formed on both sides of its middle portion. The two ends of the lead screw 21 are connected to the lead screw mounting grooves 121 on two of the supporting main boards 12 through the lead screw mounting seat 23. The lead screw mounting grooves 121 on the remaining supporting main boards 12 serve as clearance grooves. As the lead screw 21 rotates, the lead screw mounting seat 23 will drive the opening and closing drive mechanism 3 and the gripping robot 4 to move horizontally together. Therefore, the lead screw mounting grooves 121 on the remaining supporting main boards 12 can just make way for the lead screw mounting seat 23.

[0059] Furthermore, each of the supporting motherboards 12 has guide rail assembly portions 122 formed on both the upper and lower sides; the horizontal movement mechanism 2 also includes a second guide rail 24 disposed on the guide rail assembly portion 122, and the opening and closing drive mechanism 3 and the gripping robot 4 are both slidably connected to the second guide rail 24 through the second slider 25. Because the opening and closing drive mechanism 3, driven by the lead screw drive assembly 22, will drive the gripping robot 4 to move horizontally together, and the gripping robot 4 can perform horizontal opening and closing movements under the action of the opening and closing drive mechanism 3, by adopting the above structural design, the opening and closing drive mechanism 3 and the gripping robot 4 can share the same set of slide rail structure, which can simplify the overall structure and reduce the cost.

[0060] This invention provides a series of support main plates 12 spaced along the length of the top of the support base 11, connected by a connecting beam 13. Each support main plate 12 is designed as a triangular plate, with guide rail assembly parts 122 on both the upper and lower sides, and screw mounting grooves 121 on both sides of the middle section. This design ensures stable support during use, allowing the gripping robot 4 to move smoothly and repeatedly, while maintaining overall support strength and reducing overall weight and manufacturing costs. Furthermore, the opening / closing drive mechanism 3 and the gripping robot 4 can be installed on either side of the support body 1 according to actual needs, making it more flexible and convenient to use. The shared use of the opening / closing drive mechanism 3 and the gripping robot 4 on both sides reduces space occupation and overall implementation costs.

[0061] Please see Figures 1 to 10 As shown, the present invention also provides a method for producing a mechanical gripping device 100 for automatically picking up and placing shoes. The specific structure of the mechanical gripping device 100 and its technical effects are detailed above and will not be repeated here. The production method includes the following steps:

[0062] When the lead screw drive assembly 22 drives the two opening and closing drive mechanisms 3 to move horizontally and synchronously to the first position along the first direction, it controls the two rotary drive mechanisms 5 on one of the opening and closing drive mechanisms 3 to drive the two gripping manipulators 4 to rotate downwards to the desired position, so that the gripping manipulators 4 can grip the shoes to be pressed from the platform. It controls the opening and closing drive mechanism 3 to drive the two gripping manipulators 4 to move closer together and clamp the shoes to be pressed, and controls the two rotary drive mechanisms 5 of the opening and closing drive mechanism 3 to drive the two gripping manipulators 4 to move the clamped shoes upwards to return to their original positions. This facilitates the horizontal movement of the clamped shoes. Simultaneously, the two rotary drive mechanisms 5 on another opening and closing drive mechanism 3 drive the two gripping robotic arms 4 downward to the desired position, so that the gripping robotic arms 4 can grip the shoes with the soles pressed from the sole presser. The opening and closing drive mechanism 3 drives the two gripping robotic arms 4 to move closer together to clamp the shoes with the soles pressed, and the two rotary drive mechanisms 5 on the opening and closing drive mechanism 3 drive the two gripping robotic arms 4 to move the clamped shoes upward to return to their original position, so as to facilitate the horizontal movement of the clamped shoes.

[0063] The screw drive assembly 22 drives two opening and closing drive mechanisms 3 to move horizontally and synchronously to the second position in the opposite direction to the first direction. The two rotary drive mechanisms 5 on one of the opening and closing drive mechanisms 3 drive two gripping robotic arms 4 to rotate the shoe to be pressed downwards to the desired position, allowing the gripping robotic arms 4 to place the shoe into the pressing machine. The opening and closing drive mechanism 3 then drives the two gripping robotic arms 4 away from each other to release the shoe, and the two rotary drive mechanisms 5 on the opening and closing drive mechanism 3 drive the two gripping robotic arms 4 back to their original positions for horizontal movement. Simultaneously, the two rotary drive mechanisms 5 on the other opening and closing drive mechanism 3 drive the two gripping robotic arms 4 to rotate the pressed shoe downwards to the desired position, placing the pressed shoe onto the platform. The opening and closing drive mechanism 3 then drives the two gripping robotic arms 4 away from each other to release the pressed shoe, and the two rotary drive mechanisms 5 on the opening and closing drive mechanism 3 drive the two gripping robotic arms 4 back to their original positions. As can be seen from the above, by adopting the technical solution of the present invention, it is possible to simultaneously and automatically feed unpressed shoes and automatically remove pressed shoes, thereby helping to improve production efficiency.

[0064] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mechanical gripping device for automatically picking up and placing shoes, characterized in that, It includes a supporting body, at least one horizontal moving mechanism, at least two opening and closing drive mechanisms, and at least four gripping manipulators; The horizontal movement mechanism includes a lead screw rotatably mounted on one side of the support body along its length and a lead screw drive assembly that drives the lead screw to rotate. Two opening and closing drive mechanisms are spaced apart on the lead screw. The lead screw drive assembly drives the two opening and closing drive mechanisms to move horizontally synchronously in the same direction. Each opening and closing drive mechanism has a horizontal movable end extending outward on both sides. Each gripper is rotatably connected to a horizontal movable end. Each gripper is equipped with a rotation drive mechanism at its rotation connection end. The opening and closing drive mechanism drives the two grippers connected on both sides to move closer to each other or further apart. The rotation drive mechanism drives the grippers to rotate up and down.

2. The mechanical gripping device for automatically picking up and placing shoes according to claim 1, characterized in that, Each of the opening and closing drive mechanisms includes a supporting outer frame, a first gear rotatably disposed in the middle of the supporting outer frame, a second gear rotatably disposed in the upper part of the supporting outer frame and meshing with the first gear, a third gear rotatably disposed in the lower part of the supporting outer frame and meshing with the first gear, a gear drive assembly for driving the first gear to rotate, a first movable track and a second movable track; the supporting outer frame is screwed to a lead screw; The top of the first movable track is slidably connected to the inner top of the supporting outer frame. The bottom of the first movable track is provided with a first rack that meshes with the second gear. One end of the first movable track extends to the outside of one side of the supporting outer frame to form a horizontal movable end. The bottom of the second movable track is slidably connected to the inner bottom of the supporting outer frame. The top of the second movable track is provided with a second rack that meshes with the third gear. One end of the second movable track extends to the outside of the other side of the supporting outer frame to form another horizontal movable end.

3. The mechanical gripping device for automatically picking up and placing shoes according to claim 1, characterized in that, Each of the aforementioned gripping manipulators has a movable gripping assembly at its free end; The movable gripper assembly includes a gripper body, a connecting seat, a tension spring, and a positioning sensor. The connecting seat is located at the free end of the gripper robot. The top of the gripper body and the connecting seat are slidably connected via a first guide rail and a first slider. One end of the gripper body has a gripping slot for gripping the end of a shoe, and the gripping slots of the two movable gripper assemblies on the same opening and closing drive mechanism are arranged facing each other. The tension spring is located between the connecting seat and the gripper body, and the positioning sensor is located on the gripper body and at the end near the gripping slot.

4. The mechanical gripping device for automatically picking up and placing shoes according to claim 3, characterized in that, The gripper body has a first limiting stop on both sides near the gripping slot to block the connecting seat, and a second limiting stop on both sides away from the gripping slot to block the connecting seat; the position sensor is located on the first limiting stop.

5. The mechanical gripping device for automatically picking up and placing shoes according to claim 1, characterized in that, Each of the horizontal movable ends is provided with a connector; the connector includes an L-shaped connecting plate for connecting to the gripping robot and a connecting block connecting the L-shaped connecting plate and the horizontal movable end.

6. The mechanical gripping device for automatically picking up and placing shoes according to claim 1, characterized in that, The support body includes a support base, a support main board, and connecting beams; the top of the support base is provided with several support main boards spaced apart along the length direction, and the support main boards are connected together by several connecting beams.

7. The mechanical gripping device for automatically picking up and placing shoes according to claim 6, characterized in that, Each of the aforementioned supporting motherboards is a triangular plate.

8. The mechanical gripping device for automatically picking up and placing shoes according to claim 6, characterized in that, Each of the support main boards has lead screw mounting grooves formed on both sides of its middle section. The two ends of the lead screw are connected to the lead screw mounting grooves on two of the support main boards through lead screw mounting seats. The lead screw mounting grooves on the remaining support main boards serve as clearance grooves.

9. A mechanical gripping device for automatically picking up and placing shoes according to claim 6, characterized in that, Each of the supporting motherboards has guide rail assembly parts formed on both the upper and lower sides; the horizontal moving mechanism also includes a second guide rail provided on the guide rail assembly part, and the opening and closing drive mechanism and the gripping manipulator are slidably connected to the second guide rail through the second slider.

10. A method for producing a mechanical gripping device for automatically picking up and placing shoes according to any one of claims 1-9, characterized in that, The production method includes the following steps: When the lead screw drive assembly drives the two opening and closing drive mechanisms to move horizontally and synchronously to the first position along the first direction, it controls the two rotary drive mechanisms on one of the opening and closing drive mechanisms to drive the two gripping manipulators to rotate downward to the desired position, controls the opening and closing drive mechanism to drive the two gripping manipulators to move closer together and clamp the shoe to be pressed down, and controls the two rotary drive mechanisms on the opening and closing drive mechanism to drive the two gripping manipulators to move the clamped shoe back to its original position; at the same time, it controls the two rotary drive mechanisms on the other opening and closing drive mechanism to drive the two gripping manipulators to rotate downward to the desired position, controls the opening and closing drive mechanism to drive the two gripping manipulators to move closer together and clamp the pressed shoe, and controls the two rotary drive mechanisms on the opening and closing drive mechanism to drive the two gripping manipulators to move the clamped shoe back to its original position. The two opening and closing drive mechanisms are driven by a lead screw drive assembly to move horizontally and synchronously to the second position in a direction opposite to the first direction. The two rotary drive mechanisms on one of the opening and closing drive mechanisms drive the two gripping manipulators to rotate the shoe to be pressed downward to the desired position. The opening and closing drive mechanism is then controlled to move the two gripping manipulators away from each other to release the shoe to be pressed, and the two rotary drive mechanisms on the opening and closing drive mechanism are controlled to move the two gripping manipulators back to their original positions. At the same time, the two rotary drive mechanisms on the other opening and closing drive mechanism are controlled to move the two gripping manipulators to rotate the pressed shoe downward to the desired position. The opening and closing drive mechanism is then controlled to move the two gripping manipulators away from each other to release the pressed shoe, and the two rotary drive mechanisms on the opening and closing drive mechanism are controlled to move the two gripping manipulators back to their original positions.

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